refactor(driver): centralize I2C locking and migrate polling to RTOS timers

radio/src/boards/generic_stm32/i2c_bus.cpp

@@ -25,9 +25,29 @@
 #include "hal/i2c_driver.h"
 #include "hal.h"
 
+#if defined(FREE_RTOS)
+#include "os/task.h"
+#endif
+
 #define I2C_DEFAULT_TIMEOUT 10
 #define I2C_DEFAULT_RETRIES 2
 
+#define MAX_I2C_BUSES 2
+
+#if defined(FREE_RTOS)
+static mutex_handle_t _i2c_mutex[MAX_I2C_BUSES];
+static bool _i2c_mutex_initialized[MAX_I2C_BUSES] = {};
+
+static void i2c_ensure_mutex(uint8_t bus)
+{
+  if (bus < MAX_I2C_BUSES && !_i2c_mutex_initialized[bus] &&
+      scheduler_is_running()) {
+    mutex_create(&_i2c_mutex[bus]);
+    _i2c_mutex_initialized[bus] = true;
+  }
+}
+#endif
+
 #if defined(I2C_B1)
 static const stm32_i2c_hw_def_t _i2c1 = {
   .I2Cx = I2C_B1,
@@ -92,6 +112,33 @@ int i2c_deinit(etx_i2c_bus_t bus)
   return -1;
 }
 
+void i2c_lock(etx_i2c_bus_t bus)
+{
+#if defined(FREE_RTOS)
+  i2c_ensure_mutex(bus);
+  if (scheduler_is_running())
+    mutex_lock(&_i2c_mutex[bus]);
+#endif
+}
+
+bool i2c_trylock(etx_i2c_bus_t bus)
+{
+#if defined(FREE_RTOS)
+  i2c_ensure_mutex(bus);
+  if (scheduler_is_running())
+    return mutex_trylock(&_i2c_mutex[bus]);
+#endif
+  return true;
+}
+
+void i2c_unlock(etx_i2c_bus_t bus)
+{
+#if defined(FREE_RTOS)
+  if (bus < MAX_I2C_BUSES && scheduler_is_running())
+    mutex_unlock(&_i2c_mutex[bus]);
+#endif
+}
+
 int i2c_dev_ready(etx_i2c_bus_t bus, uint16_t addr)
 {
   return stm32_i2c_is_dev_ready(bus, addr, I2C_DEFAULT_RETRIES,

radio/src/boards/jumper-h750/touch_driver.cpp

@@ -248,6 +248,8 @@ TouchState touchPanelRead()
 {
   if (!touchEventOccured) return internalTouchState;
 
+  i2c_lock(TOUCH_I2C_BUS);
+
   touchEventOccured = false;
 
   tmr10ms_t now = timersGetMsTick();
@@ -285,6 +287,7 @@ TouchState touchPanelRead()
   if (internalTouchState.event == TE_UP ||
       internalTouchState.event == TE_SLIDE_END)
     internalTouchState.event = TE_NONE;
+  i2c_unlock(TOUCH_I2C_BUS);
   return ret;
 }
 

radio/src/boards/rm-h750/bsp_io.cpp

@@ -24,6 +24,7 @@
 #include "stm32_rgbleds.h"
 #include "stm32_switch_driver.h"
 #include "stm32_i2c_driver.h"
+#include "hal/i2c_driver.h"
 #include "hal/switch_driver.h"
 #include "drivers/pca95xx.h"
 #include "timers_driver.h"
@@ -112,8 +113,12 @@ static void _poll_switches(void *param1, uint32_t trigger_source)
   // Suspend hardware reads when required
   if (suspendI2CTasks) return;
 
+  if (!i2c_trylock(IO_EXPANDER_I2C_BUS)) return;
+
   _read_io_expander(&_io_switches);
   _read_io_expander(&_io_fs_switches);
+
+  i2c_unlock(IO_EXPANDER_I2C_BUS);
 }
 
 static void _io_int_handler()

radio/src/boards/rm-h750/tp_gt911.cpp

@@ -232,6 +232,8 @@ struct TouchState touchPanelRead()
 
   if (!touchEventOccured) return internalTouchState;
 
+  i2c_lock(TOUCH_I2C_BUS);
+
   touchEventOccured = false;
 
   uint32_t startReadStatus = timersGetMsTick();
@@ -241,6 +243,7 @@ struct TouchState touchPanelRead()
       touchGT911hiccups++;
       TRACE("GT911 I2C read XY error");
       if (!I2C_ReInit()) TRACE("I2C B1 ReInit failed");
+      i2c_unlock(TOUCH_I2C_BUS);
       return internalTouchState;
     }
 
@@ -266,6 +269,7 @@ struct TouchState touchPanelRead()
         touchGT911hiccups++;
         TRACE("GT911 I2C data read error");
         if (!I2C_ReInit()) TRACE("I2C B1 ReInit failed");
+        i2c_unlock(TOUCH_I2C_BUS);
         return internalTouchState;
       }
 
@@ -316,6 +320,7 @@ struct TouchState touchPanelRead()
   }
 
   TRACE("touch event = %s", event2str(internalTouchState.event));
+  i2c_unlock(TOUCH_I2C_BUS);
   return internalTouchState;
 }
 

radio/src/cli.cpp

@@ -1845,6 +1845,41 @@ int cliResetGT911(const char** argv)
 }
 #endif
 
+#include "hal/i2c_driver.h"
+#include "stm32_i2c_driver.h"
+
+int cliI2C(const char** argv)
+{
+  if (!argv[1]) {
+    cliSerialPrint("Usage: i2c scan <bus>");
+    return 0;
+  }
+
+  if (!strcmp(argv[1], "scan")) {
+    int bus = 0;
+    if (toInt(argv, 2, &bus) < 0) {
+      cliSerialPrint("Usage: i2c scan <bus>");
+      return -1;
+    }
+
+    cliSerialPrint("Scanning I2C bus %d...", bus);
+    i2c_lock(bus);
+    int found = 0;
+    for (int addr = 0x08; addr < 0x78; addr++) {
+      if (i2c_dev_ready(bus, addr) >= 0) {
+        cliSerialPrint("  0x%02X: ACK", addr);
+        found++;
+      }
+    }
+    i2c_unlock(bus);
+    cliSerialPrint("Found %d device(s)", found);
+    return 0;
+  }
+
+  cliSerialPrint("Unknown subcommand: %s", argv[1]);
+  return -1;
+}
+
 const CliCommand cliCommands[] = {
   { "beep", cliBeep, "[<frequency>] [<duration>]" },
   { "ls", cliLs, "<directory>" },
@@ -1871,6 +1906,7 @@ const CliCommand cliCommands[] = {
   { "repeat", cliRepeat, "<interval in ms> <command>" },
   { "testfatfs", cliTestFatFsSD, "" },
 #endif
+  { "i2c", cliI2C, "lockup <bus> <addr> | scan <bus> | recover <bus>" },
   { "help", cliHelp, "[<command>]" },
 #if defined(JITTER_MEASURE)
   { "jitter", cliShowJitter, "" },

radio/src/drivers/csd203.cpp

@@ -0,0 +1,185 @@
+/*
+ * Copyright (C) EdgeTX
+ *
+ * Based on code named
+ *   opentx - https://github.com/opentx/opentx
+ *   th9x - http://code.google.com/p/th9x
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#include "csd203.h"
+
+#include "delays_driver.h"
+#include "hal/i2c_driver.h"
+#include "os/timer.h"
+
+// CSD203 register map
+#define CSD203_REG_CONFIG       0x00
+#define CSD203_REG_SHUNT_V     0x01
+#define CSD203_REG_BUS_V       0x02
+#define CSD203_REG_POWER       0x03
+#define CSD203_REG_CURRENT     0x04
+#define CSD203_REG_CALIBRATION 0x05
+#define CSD203_REG_MFR_ID      0xFE
+
+#define CSD203_MFR_ID_EXPECTED 0x4153
+
+// Calibration parameter: gain * 10000K
+#define CSD203_CAL_PARAM       51200
+
+// Config register fields (matching CSD203 datasheet)
+#define CFG_RST         (1 << 15)
+#define CFG_AVG_16      (2 << 9)
+#define CFG_VBUS_CT_1MS (4 << 5)
+#define CFG_VSHT_CT_1MS (4 << 2)
+#define CFG_MODE_CONT   7
+
+extern bool suspendI2CTasks;
+
+static int csd203_read_reg(csd203_t* dev, uint8_t reg, uint16_t* value)
+{
+  uint8_t buf[2];
+  if (i2c_read(dev->bus, dev->addr, reg, 1, buf, 2) < 0)
+    return -1;
+  *value = (buf[0] << 8) | buf[1];
+  return 0;
+}
+
+static int csd203_write_reg(csd203_t* dev, uint8_t reg, uint16_t value)
+{
+  uint8_t buf[2] = {(uint8_t)(value >> 8), (uint8_t)(value & 0xFF)};
+  return i2c_write(dev->bus, dev->addr, reg, 1, buf, 2);
+}
+
+int csd203_init(csd203_t* dev, etx_i2c_bus_t bus, uint16_t addr,
+                uint16_t rshunt, uint16_t current_lsb)
+{
+  dev->bus = bus;
+  dev->addr = addr;
+  dev->initialized = false;
+
+  uint16_t config = CFG_RST | CFG_AVG_16 | CFG_VBUS_CT_1MS |
+                    CFG_VSHT_CT_1MS | CFG_MODE_CONT;
+  if (csd203_write_reg(dev, CSD203_REG_CONFIG, config) < 0)
+    return -1;
+
+  uint16_t cal = CSD203_CAL_PARAM / (current_lsb * rshunt);
+  if (csd203_write_reg(dev, CSD203_REG_CALIBRATION, cal) < 0)
+    return -1;
+
+  delay_ms(1);
+
+  uint16_t mfr_id;
+  if (csd203_read_reg(dev, CSD203_REG_MFR_ID, &mfr_id) < 0)
+    return -1;
+
+  if (mfr_id != CSD203_MFR_ID_EXPECTED)
+    return -1;
+
+  // Dummy current read to clear conversion-ready flag
+  uint16_t dummy;
+  csd203_read_reg(dev, CSD203_REG_CURRENT, &dummy);
+
+  dev->initialized = true;
+  return 0;
+}
+
+uint16_t csd203_read_voltage(csd203_t* dev)
+{
+  uint16_t val = 0;
+  csd203_read_reg(dev, CSD203_REG_BUS_V, &val);
+  return val;
+}
+
+uint16_t csd203_read_current(csd203_t* dev)
+{
+  uint16_t val = 0;
+  csd203_read_reg(dev, CSD203_REG_CURRENT, &val);
+  return val;
+}
+
+// Board-level: 3 CSD203 sensors (main, internal, external)
+// Addresses: A1=VS/A0=GND (0x44), A1=VS/A0=VS (0x45), A1=GND/A0=VS (0x41)
+#define CSD203_ADDR_MAIN     0x44
+#define CSD203_ADDR_INTERNAL 0x45
+#define CSD203_ADDR_EXTERNAL 0x41
+
+// Shunt resistor 10 mOhm, current LSB 1 mA
+#define CSD203_RSHUNT      10
+#define CSD203_CURRENT_LSB 10
+
+static csd203_t csd203_main;
+static csd203_t csd203_internal;
+static csd203_t csd203_external;
+
+static etx_i2c_bus_t csd203_bus;
+static uint16_t csd203_ext_vbus;
+static timer_handle_t csd203_timer = TIMER_INITIALIZER;
+
+#define CSD203_POLL_PERIOD_MS 10
+
+static void csd203TimerCb(timer_handle_t* timer)
+{
+  (void)timer;
+  static uint16_t step = 0;
+
+  if (suspendI2CTasks) return;
+  if (!i2c_trylock(csd203_bus)) return;
+
+  if (step == 0 && csd203_main.initialized) {
+    csd203_read_current(&csd203_main);
+    csd203_read_voltage(&csd203_main);
+  } else if (step == 1 && csd203_internal.initialized) {
+    csd203_read_current(&csd203_internal);
+    csd203_read_voltage(&csd203_internal);
+  } else if (step == 2 && csd203_external.initialized) {
+    csd203_read_current(&csd203_external);
+    csd203_ext_vbus = (uint16_t)(csd203_read_voltage(&csd203_external) * 1.25f);
+  }
+
+  i2c_unlock(csd203_bus);
+  if (++step >= 3) step = 0;
+}
+
+void csd203_start(etx_i2c_bus_t bus)
+{
+  csd203_bus = bus;
+
+  if (i2c_init(bus) < 0)
+    return;
+
+  csd203_init(&csd203_main, bus, CSD203_ADDR_MAIN,
+              CSD203_RSHUNT, CSD203_CURRENT_LSB);
+
+  delay_ms(5);
+  csd203_init(&csd203_internal, bus, CSD203_ADDR_INTERNAL,
+              CSD203_RSHUNT, CSD203_CURRENT_LSB);
+
+  delay_ms(5);
+  csd203_init(&csd203_external, bus, CSD203_ADDR_EXTERNAL,
+              CSD203_RSHUNT, CSD203_CURRENT_LSB);
+
+  if (csd203_main.initialized || csd203_internal.initialized ||
+      csd203_external.initialized) {
+    timer_create(&csd203_timer, csd203TimerCb, "csd203",
+                 CSD203_POLL_PERIOD_MS, true);
+    timer_start(&csd203_timer);
+  }
+}
+
+uint16_t getBatteryVoltage()
+{
+  return csd203_ext_vbus / 10;
+}

radio/src/targets/common/arm/stm32/csd203_sensor.h → radio/src/drivers/csd203.h

@@ -21,6 +21,18 @@
 
 #pragma once
 
-void IICcsd203init(void);
-void initCSD203(void);
-void readCSD203(void);
+#include "hal/i2c_driver.h"
+
+typedef struct {
+  etx_i2c_bus_t bus;
+  uint16_t addr;
+  bool initialized;
+} csd203_t;
+
+int csd203_init(csd203_t* dev, etx_i2c_bus_t bus, uint16_t addr,
+                uint16_t rshunt, uint16_t current_lsb);
+
+uint16_t csd203_read_voltage(csd203_t* dev);
+uint16_t csd203_read_current(csd203_t* dev);
+
+void csd203_start(etx_i2c_bus_t bus);